Automatic sewing system and control method thereof

Abstract

The invention provides an automatic sewing system and a control method thereof, and relates to the technical field of sewing equipment. The system comprises a sewing mechanism; the upper feeding mechanism is arranged on one side, facing the sewing platform, of a sewing machine needle of the sewing mechanism; the lifting mechanism is used for integrally controlling the height between the upper feeding mechanism and the sewing platform under the action of the lifting mechanism; a lower feeding mechanism; the upper feeding motor is used for controlling the feeding direction of the upper feeding mechanism; the lower feeding motor is used for controlling the feeding direction of the lower feeding mechanism; and the upper feeding mechanism and the lower feeding mechanism synchronously feed under the control of the upper feeding motor and the lower feeding motor. The system and the method are used for achieving the effect of improving the sewing quality and efficiency of the sewing material.

Description

Technical Field

[0001] The present application relates to the technical field of sewing equipment, and in particular to an automatic sewing system and a control method thereof. Background Art

[0002] The current sewing machine can sew limited thickness of sewing materials, and the thickness before compaction is generally less than 5cm. For sewing materials with a thickness of more than 5cm or even thicker before compaction, and when the clamp presses the sewing material, the feeding mechanism can only ensure that the movement of the bottom surface of the sewing material is consistent with the pattern, because the clamp will press the top surface of the sewing material, and there will be a large feeding resistance on the top surface. The feeding distance will be seriously reduced, and the sewing effect cannot be consistent with the bottom surface, resulting in deformation of the sewing material, and the sewing effect cannot meet the requirements.

[0003] To address the above problems, currently, when sewing super-thick materials such as pillows, seat cushions, and sleeping pads, the materials need to be manually flattened and compacted, then put into a sewing machine and manually controlled to sew. This operation must be repeated after sewing each small pattern (a piece of sewing material generally consists of dozens of small patterns), resulting in low sewing efficiency and poor consistency of embroidery.

[0004] Therefore, how to improve the sewing efficiency for thick sewing materials and ensure the consistency of embroidery has become a technical problem that needs to be solved urgently. Summary of the invention

[0005] The embodiments of the present application provide an automatic sewing system and a control method thereof, so as to improve the sewing quality and efficiency of thick sewing materials.

[0006] In a first aspect, an embodiment of the present application provides an automatic sewing system, comprising: a sewing mechanism;

[0007] An upper feeding mechanism arranged on the side of the sewing machine needle facing the sewing platform of the sewing mechanism;

[0008] A lifting mechanism, under the action of which the height between the upper feeding mechanism and the sewing platform is controlled as a whole;

[0009] Bottom feeding mechanism;

[0010] An upper feeding motor for controlling the feeding direction of the upper feeding mechanism;

[0011] A lower feeding motor for controlling the feeding direction of the lower feeding mechanism;

[0012] The upper feeding mechanism is controlled by the upper feeding motor and the lower feeding mechanism is controlled by the lower feeding motor to feed synchronously.

[0013] In a possible implementation, the lifting mechanism includes a lifting cylinder and a cylinder control motor. The lifting cylinder adjusts the air pressure under the control of the cylinder control motor to control the lifting and lowering of the upper feeding mechanism and the force with which the upper feeding mechanism presses the sewing material when it is pressed down.

[0014] In a possible implementation, the automatic sewing system further includes a sewing machine needle control motor and a rotary shuttle control motor, and the sewing machine needle control motor and the rotary shuttle control motor respectively and correspondingly synchronously control the sewing machine needle and the rotary shuttle.

[0015] In a possible implementation, the upper feeding mechanism moves within a set range along two directions, X and Y, under the control of the upper feeding motor.

[0016] In a possible implementation, the upper feeding motor includes an X-direction feeding motor and a Y-direction feeding motor. The X-direction feeding motor controls the upper feeding mechanism to move within a set range along the X direction, and the Y-direction feeding motor controls the upper feeding mechanism to move within a set range along the Y direction.

[0017] In a second aspect, an embodiment of the present application provides an automatic sewing control method, which is applied to the automatic sewing system described in the first aspect, and the method includes:

[0018] According to the preset sewing information, the lower feeding mechanism is controlled to move the sewing material to the starting position indicated by the sewing information;

[0019] determining the center position of the pattern included in the sewing information;

[0020] Control the movement of the upper feeding mechanism to align the center position of the upper feeding mechanism with the center position of the pattern;

[0021] Control the lifting mechanism to push the upper feeding mechanism down and press the upper feeding mechanism tightly, so that the upper feeding mechanism presses the sewing material tightly;

[0022] Control the sewing mechanism to sew according to the sewing information, and control the upper feeding mechanism and the lower feeding mechanism to move synchronously during the sewing process;

[0023] If it is detected that the sewing content indicated by the sewing information has been completed, the lifting mechanism is controlled to drive the upper feeding mechanism to lift up, and the lower feeding mechanism moves to a preset starting position.

[0024] In a possible implementation, determining the center position of the pattern included in the sewing information includes:

[0025] Obtaining needle position coordinate information corresponding to the pattern indicated by the sewing information;

[0026] Get the maximum and minimum values ​​of the needle position coordinate information in the X direction;

[0027] Get the maximum and minimum values ​​of the needle position coordinate information in the Y direction;

[0028] Determine the coordinate value of the center position of the pattern in the X direction according to the average value of the maximum value and the minimum value of the needle position coordinate information in the X direction;

[0029] The coordinate value of the center position of the pattern in the Y direction is determined according to the average value of the maximum value and the minimum value of the needle position coordinate information in the Y direction.

[0030] In a possible implementation, the method further includes:

[0031] After sewing begins, the difference between the moving distances of the upper feeding mechanism and the lower feeding mechanism is detected;

[0032] If the difference is greater than the first threshold, the rotation speed of the upper feeding motor or the lower feeding motor is adjusted so that the phase difference between the rotation of the upper feeding motor and the lower feeding motor is not greater than the first angle threshold.

[0033] In a possible implementation, the method further includes:

[0034] Detect the phase difference between the sewing machine needle control motor and the rotary hook control motor;

[0035] If the phase difference between the sewing machine needle control motor and the rotary hook control motor is greater than the second angle threshold, the rotation speed of the sewing machine needle control motor or the rotary hook control motor is adjusted to make the phase difference less than the second angle threshold.

[0036] In a third aspect, an embodiment of the present application provides an automatic sewing control device, comprising:

[0037] A first control module is used to control the lower feeding mechanism to move the sewing material to the starting position indicated by the sewing information according to the preset sewing information;

[0038] A processing module determines the center position of the pattern contained in the sewing information;

[0039] The second control module is used to control the movement of the upper feeding mechanism to align the center position of the format of the upper feeding mechanism with the center position of the pattern;

[0040] The third control module is used to control the lifting mechanism to push the upper feeding mechanism down and press the upper feeding mechanism so that the upper feeding mechanism presses the sewing material;

[0041] A fourth control module is used to control the sewing mechanism to sew according to the sewing information, and to control the upper feeding mechanism and the lower feeding mechanism to move synchronously during the sewing process;

[0042] The fifth control module is used to control the lifting mechanism to lift the upper feeding mechanism and move the lower feeding mechanism to a preset starting position if it is detected that the sewing content indicated by the sewing information has been completed.

[0043] In a fourth aspect, an embodiment of the present application provides an automatic sewing control device, including: a memory, a processor;

[0044] The memory stores computer-executable instructions;

[0045] The processor executes the computer-executable instructions stored in the memory, so that the processor executes the above second aspect and / or various possible implementations of the second aspect.

[0046] In a fifth aspect, an embodiment of the present application provides a computer-readable storage medium, in which computer-executable instructions are stored. When the computer-executable instructions are executed by a processor, they are used to implement the above second aspect and / or various possible implementations of the second aspect.

[0047] In a sixth aspect, an embodiment of the present application provides a computer program product, including a computer program, which, when executed by a processor, implements the above second aspect and / or various possible implementation methods of the second aspect.

[0048] The automatic sewing system and control method thereof provided in the embodiment of the present application are characterized in that an upper feeding mechanism and a lower feeding mechanism that can move synchronously are arranged, and a lifting mechanism controls the height between the upper feeding mechanism and the sewing plane. After the sewing material is placed, the lifting mechanism compresses the distance between the upper feeding mechanism and the sewing platform, thereby achieving the effect of pressing the sewing material. During the sewing process, the upper feeding mechanism, the lower feeding mechanism and the lifting mechanism move synchronously according to preset sewing information to realize automatic control of sewing, especially when sewing thick materials, the top and bottom surfaces of the thick materials move synchronously to avoid inconsistent sewing effects between the upper and lower surfaces, thereby improving the sewing quality and efficiency. BRIEF DESCRIPTION OF THE DRAWINGS

[0049] The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the present application and, together with the description, serve to explain the principles of the present application.

[0050] Figure 1 A schematic diagram of the structure of the automatic sewing system provided for this application;

[0051] Figure 2 Schematic diagram of the upper feeding width and the lower feeding width provided for this application;

[0052] Figure 3 A schematic diagram of the process flow of the automatic sewing control method provided in this application;

[0053] Figure 4A schematic diagram of a scenario for determining the center position of a pattern provided in this application;

[0054] Figure 5 A schematic diagram of the structure of the automatic sewing control device provided in this application;

[0055] Figure 6 This is a schematic diagram of the structure of the automatic sewing control device provided in this application.

[0056] The above drawings have shown clear embodiments of the present application, which will be described in more detail later. These drawings and text descriptions are not intended to limit the scope of the present application in any way, but to illustrate the concept of the present application to those skilled in the art by referring to specific embodiments. DETAILED DESCRIPTION

[0057] Exemplary embodiments will be described in detail herein, examples of which are shown in the accompanying drawings. When the following description refers to the drawings, the same numbers in different drawings represent the same or similar elements unless otherwise indicated. The implementations described in the following exemplary embodiments do not represent all implementations consistent with the present application. Instead, they are merely examples of devices and methods consistent with some aspects of the present application as detailed in the appended claims.

[0058] In the related art, the sewing machine is composed of a sewing mechanism, a lower feeding mechanism and a clamp. The sewing mechanism specifically includes a sewing needle and a rotary shuttle. During the sewing process, the sewing needle penetrates the sewing material up and down, and the rotary shuttle is located on the bottom surface of the sewing material. When the sewing needle passes through the sewing material, the rotary shuttle rotates to hook the sewing thread to complete one sewing. Usually, the position of the sewing mechanism of the sewing machine is fixed, and the sewing material is fixed on the lower feeding mechanism. The lower feeding mechanism drives the sewing material to move according to the preset sewing information to achieve sewing at different positions. The function of the clamp is to fix the area to be sewn on the sewing material to avoid shaking or wrinkles during the sewing process that affect the sewing effect.

[0059] When the above-mentioned sewing machine is sewing thick sewing materials (sewing materials with a thickness greater than 5 cm), the sewing materials are fixed on the lower feeding mechanism, and the clamps clamp the sewing materials during the sewing process. After the sewing is completed, the lower feeding mechanism drives the sewing materials to move to the next position to be sewn. Due to the large thickness of the sewing materials, the clamps clamping the sewing materials will cause the top surface of the sewing materials to be subject to a certain resistance when moving, and the feeding distance of the top surface is seriously reduced, causing the bottom surface and the top surface of the sewing materials to be layered, which in turn causes the sewing effects of the top and bottom surfaces to be inconsistent after sewing is completed, and the sewing effect cannot meet the requirements. In addition, the thick sewing materials need to be flattened and compacted before being put into the sewing machine, which requires manual operation. The flattening and compacting operation needs to be repeated every time a small pattern is sewn, which has low sewing efficiency and has certain requirements on the workers' familiarity with the materials, otherwise it will cause the problem of poor product consistency.

[0060] In order to solve the above technical problems, the present application provides an automatic sewing system and a control method thereof, wherein an upper feeding mechanism is provided for pressing the top surface of thick sewing materials, and during the sewing process, the upper feeding mechanism and the lower feeding mechanism are controlled to move synchronously, thereby avoiding the problem of poor sewing effect caused by the stratification of the top surface and the ground of the thick sewing materials. In addition, a lifting mechanism is provided to control the lifting and lowering of the upper feeding mechanism in the vertical direction, and the force of the upper feeding mechanism pressing the sewing materials can be controlled, replacing the manual operation of flattening and compacting the sewing materials, which not only has high operating efficiency, but also has controllable pressing force, good operation consistency, and improves the sewing quality of the product.

[0061] The technical solution of the present application and how the technical solution of the present application solves the above-mentioned technical problems are described in detail below with specific embodiments. The following specific embodiments can be combined with each other, and the same or similar concepts or processes may not be repeated in some embodiments. The embodiments of the present application will be described below in conjunction with the accompanying drawings.

[0062] Figure 1 The schematic diagram of the structure of the automatic sewing system provided in this application is as follows: Figure 1 As shown, the system includes: a sewing mechanism; an upper feeding mechanism arranged on the side of the sewing mechanism where the sewing machine needle faces the sewing platform; a lifting mechanism, under the action of the lifting mechanism, the height between the upper feeding mechanism and the sewing platform is controlled as a whole; a lower feeding mechanism; an upper feeding motor (not shown in the figure) for controlling the feeding direction of the upper feeding mechanism; a lower feeding motor (not shown in the figure) for controlling the feeding direction of the lower feeding mechanism; the upper feeding mechanism is controlled by the upper feeding motor and the lower feeding mechanism is controlled by the lower feeding motor to feed synchronously.

[0063] The sewing mechanism includes a sewing machine needle and a rotary shuttle, and the sewing machine needle can be inserted into the sewing material up and down. The rotary shuttle is installed at the bottom of the sewing platform, and the rotary shuttle and the sewing machine needle work synchronously to sew the sewing material.

[0064] The upper feeding mechanism can be installed on the sewing machine needle or be independently set up. It can move within a certain range relative to the sewing machine needle. The upper feeding mechanism can frame a certain width on the top surface of the sewing material and fix and press the width.

[0065] The lifting mechanism is used to control the lifting of the upper feeding mechanism and adjust the height between the upper feeding mechanism and the sewing platform. In addition, the lifting mechanism can also provide pressure for the upper feeding mechanism to press the sewing material. In some embodiments, the lifting mechanism can be a structure such as a cylinder, a mechanical arm or a spiral lifter. The present application does not limit the specific structure used to realize the lifting mechanism.

[0066] A clamp is set on the edge of the lower feeding mechanism to fix the sewing material on the lower feeding mechanism. The feeding direction is obtained according to the preset sewing information. The lower feeding mechanism can drive the sewing material to move in the feeding direction so that the position where sewing is required is aligned with the sewing machine needle.

[0067] The upper feeding motor is connected to the upper feeding mechanism, and the upper feeding motor rotates to drive the upper feeding mechanism to move. The lower feeding motor is connected to the lower feeding mechanism, and the lower feeding motor rotates to drive the lower feeding mechanism to move.

[0068] During the sewing process, the sewing material is fixed on the lower feeding mechanism, and the lifting mechanism pushes the upper feeding mechanism down and presses the sewing material. When sewing at one place is completed, the lifting mechanism, the upper feeding mechanism and the lower feeding mechanism move synchronously to the next position that needs to be sewn. Through the above operation, the top surface and the ground of the sewing material can be moved synchronously while the sewing material is pressed.

[0069] The automatic sewing system provided in the embodiment of the present application is provided with an upper feeding mechanism and a lower feeding mechanism that can move synchronously. The lifting mechanism controls the height between the upper feeding mechanism and the sewing plane. After the sewing material is placed, the lifting mechanism compresses the distance between the upper feeding mechanism and the sewing platform, thereby achieving the effect of pressing the sewing material. During the sewing process, the upper feeding mechanism, the lower feeding mechanism and the lifting mechanism move synchronously according to the preset sewing information to realize automatic control of sewing. Especially when sewing thick materials, the top and bottom surfaces of the thick materials move synchronously to avoid inconsistent sewing effects between the upper and lower surfaces, thereby improving the sewing quality and efficiency.

[0070] In a possible implementation, the lifting mechanism includes a lifting cylinder and a cylinder control motor. The lifting cylinder adjusts the air pressure under the control of the cylinder control motor to control the lifting and lowering of the upper feeding mechanism and the force with which the upper feeding mechanism presses the sewing material when it is pressed down.

[0071] The lifting cylinder is an actuator that uses compressed air as a power source. Its basic working principle is to control the in and out of compressed air to push the piston to make a linear reciprocating motion in the cylinder, thereby realizing the conversion and transmission of mechanical energy. The lifting cylinder is mainly composed of a cylinder, a piston, a piston rod, an end cover and a seal. The piston in the cylinder is connected to an external mechanical device through a piston rod. When compressed air enters one side of the cylinder (usually one side of the piston) through a control valve, the pressure of the air pushes the piston to move to the other side. This movement can be used to perform mechanical actions such as pushing, pulling or lifting. When the piston needs to return, the control valve switches direction, and the compressed air enters the other side of the cylinder, while the air on the original side is discharged. In this way, the piston moves in the opposite direction in the cylinder to complete a reciprocating cycle.

[0072] In one embodiment, the lifting cylinder is driven and controlled by a cylinder control motor. The cylinder control motor receives instructions from the control system and drives the opening and closing of the control valve, thereby adjusting the flow of compressed air and pushing the piston to perform linear reciprocating motion in the cylinder, thereby driving the upper feeding mechanism to rise and fall. The compressed air can also be used to press the upper feeding mechanism during sewing, thereby causing the upper feeding mechanism to press the sewing material.

[0073] The automatic sewing system provided in the embodiment of the present application is provided with a lifting cylinder and a cylinder control motor. The motor controls the movement of the piston in the lifting cylinder to drive the upper feeding mechanism to rise and fall, and can provide pressure for the upper feeding mechanism to compress the sewing material through compressed air. During the sewing process of thick sewing materials, the operation of manually compacting the thick sewing materials is eliminated, and the pressure can be accurately controlled by controlling the motor with the cylinder, thereby improving the sewing efficiency and quality.

[0074] In a possible implementation, the automatic sewing system further includes a sewing machine needle control motor and a rotary shuttle control motor, and the sewing machine needle control motor and the rotary shuttle control motor respectively and correspondingly synchronously control the sewing machine needle and the rotary shuttle.

[0075] The rotary shuttle is one of the key components in the sewing machine, used to form a lock stitch. Its main function is to interweave the upper thread (the thread from the sewing machine needle) and the lower thread (the thread from the shuttle) to form a firm stitch. It can be seen that the sewing machine needle and the rotary shuttle need to work synchronously to realize the sewing process. Usually, the sewing machine needle and the rotary shuttle are linked by a mechanical structure. The larger the mechanical structure is set, the greater the mechanical error will be, which will cause the sewing machine needle and the rotary shuttle to not work well synchronously. Therefore, due to the limitations of the mechanical structure, the width and thickness of the sewing materials that can be sewn by the sewing machine in the related technology are very limited.

[0076] The automatic sewing system provided by the present application eliminates the mechanical structure between the sewing machine needle and the rotary shuttle, and adopts a separate setting structure for the sewing machine needle and the rotary shuttle. A sewing machine needle control motor is separately set to control the sewing machine needle to insert the sewing material up and down, and a rotary shuttle control motor is set to control the rotation of the rotary shuttle. The sewing machine needle control motor and the rotary shuttle control motor are synchronously controlled to make the sewing machine needle and the rotary shuttle work synchronously.

[0077] The automatic sewing system provided by the present application adopts a structure in which the sewing machine needle and the rotary shuttle are separately arranged, and a sewing machine needle control motor and a rotary shuttle control motor are arranged, and the sewing machine needle control motor and the rotary shuttle control motor are controlled to work synchronously, so that the sewing machine needle and the rotary shuttle work synchronously, thereby getting rid of the limitations of the mechanical structure and increasing the sewing width and thickness.

[0078] In a possible implementation, the upper feeding mechanism moves within a set range along two directions, X and Y, under the control of the upper feeding motor.

[0079] Specifically, the X direction and the Y direction are two directions perpendicular to each other on a plane parallel to the sewing plane. Figure 2 As shown, the sewing material is fixed on the lower feeding mechanism to form the lower feeding width. The lower feeding drives the sewing material to move. The sewing mechanism can sew the sewing material within the range of the lower feeding width. The upper feeding mechanism frames and presses a certain area on the top surface of the sewing material to form the upper feeding width. The sewing material in the upper feeding width area is pressed and compacted by the upper feeding mechanism, which is convenient for the sewing mechanism to sew. The X direction and the Y direction are as follows Figure 2 As shown in , the upper feeding mechanism can move in the X direction and the Y direction under the control of the upper feeding motor. The setting range refers to the range surrounded by the maximum distance that the upper feeding mechanism can move in the X direction and the maximum distance that it can move in the Y direction.

[0080] In a possible implementation, the lower feeding mechanism moves within a set range in the X and Y directions under the control of the lower feeding motor. The lower feeding mechanism drives the sewing material fixed on the lower feeding mechanism to move in the X and Y directions, so that the sewing mechanism can Figure 2 The lower feeding mechanism moves in the same direction as the upper feeding mechanism, and the setting range refers to the range enclosed by the maximum distance that the lower feeding mechanism can move in the X direction and the maximum distance that it can move in the Y direction.

[0081] In the automatic sewing system provided by the embodiment of the present application, the upper feeding mechanism can move in the X direction and the Y direction under the control of the upper feeding motor, so as to fix and press the sewing material at different positions. The lower feeding mechanism moves in the X direction and the Y direction under the control of the lower feeding mechanism motor, so as to sew the sewing mechanism at different positions of the sewing material.

[0082] In a possible implementation, the upper feeding motor includes an X-direction feeding motor and a Y-direction feeding motor. The X-direction feeding motor controls the upper feeding mechanism to move within a set range along the X direction, and the Y-direction feeding motor controls the upper feeding mechanism to move within a set range along the Y direction.

[0083] In some embodiments, the upper feeding mechanism can be composed of structures such as a slider guide, a screw nut, a gear rack, a belt pulley, and a hydraulic or pneumatic cylinder. Any one of the above structures is used in the X direction and the Y direction to form a displacement structure, and is driven and controlled by the X-direction feeding motor and the Y-direction feeding motor respectively, so that the upper feeding mechanism moves first in the X direction and then in the Y direction, or first in the Y direction and then in the X direction, so as to move the upper feeding mechanism to the target position.

[0084] In one embodiment, the lower feeding motor includes an X-direction feeding motor and a Y-direction feeding motor. The X-direction feeding motor controls the lower feeding mechanism to move within a set range along the X direction, and the Y-direction feeding motor controls the lower feeding mechanism to move within a set range along the Y direction.

[0085] The composition structure and movement control method of the lower feeding mechanism are the same as those of the upper feeding mechanism, and will not be repeated here.

[0086] The automatic sewing system provided in the embodiment of the present application realizes displacement control of the upper feeding mechanism and the lower feeding mechanism in the X direction and the Y direction by setting the X-direction feeding motor and the Y-direction feeding motor of the upper feeding mechanism and the lower feeding mechanism, so that the upper feeding mechanism and the lower feeding mechanism can move flexibly within their respective set ranges.

[0087] In addition to providing an automatic sewing system capable of high-quality and high-efficiency sewing, the present application also provides an automatic sewing control method for use with the above-mentioned system. The method can be run on an automatic sewing system controller or other independent controller to achieve control of the above-mentioned automatic sewing system. Figure 3 The following is a flow chart of the automatic sewing control method provided in the embodiment of the present application. Figure 3 As shown, the method comprises the following steps:

[0088] S301, according to preset sewing information, controlling the lower feeding mechanism to move the sewing material to the starting position indicated by the sewing information.

[0089] The preset sewing information includes information such as pattern, stitch type, stitch density, start and end position, color and sewing speed.

[0090] The controller controls the lower feeding motor to drive the lower feeding mechanism to move in the X and / or Y direction, and the lower feeding mechanism drives the sewing material fixed on the lower feeding mechanism to move to the starting position indicated by the sewing information, so that the sewing machine needle is aligned with the starting position.

[0091] S302: Determine the center position of the pattern included in the sewing information.

[0092] Because the format of the upper feeding mechanism is limited, illustratively, a square area of ​​10cm*10cm, in order to maximize the utilization of the format of the upper feeding mechanism, the center position of the format of the upper feeding mechanism needs to be aligned with the center position of the pattern.

[0093] S303, controlling the upper feeding mechanism to move, and aligning the center position of the format of the upper feeding mechanism with the center position of the pattern.

[0094] Specifically, the controller controls the upper feeding motor to drive the upper feeding mechanism to move in the X and / or Y direction, so that the center of the format of the upper feeding mechanism is aligned with the center position of the pattern.

[0095] S304, controlling the lifting mechanism to push the upper feeding mechanism down, and pressing the upper feeding mechanism, so that the upper feeding mechanism presses the sewing material.

[0096] Specifically, the controller controls the cylinder controller to control the movement of the piston in the lifting cylinder, and the piston compresses the air in the cylinder to push the upper feeding mechanism down, and further presses the upper feeding mechanism, so that the upper feeding mechanism presses the sewing material.

[0097] In one embodiment, the force with which the upper feeding structure presses the sewing material can be preset, and the controller controls the cylinder controller with the preset force to press the upper feeding mechanism with the preset force, thereby making the upper feeding mechanism press the sewing material with the preset force.

[0098] S305, controlling the sewing mechanism to sew according to the sewing information, and controlling the upper feeding mechanism and the lower feeding mechanism to move synchronously during the sewing process.

[0099] It should be noted that the lifting cylinder is arranged on the upper feeding mechanism. While pressing the upper feeding mechanism, the lifting cylinder moves with the upper feeding mechanism. That is, during the sewing process, the lifting cylinder, the upper feeding mechanism, the sewing material and the lower feeding mechanism move synchronously.

[0100] S306: If it is detected that the sewing content indicated by the sewing information has been completed, the lifting mechanism is controlled to drive the upper feeding mechanism to lift up, and the lower feeding mechanism moves to a preset starting position.

[0101] The automatic sewing control method provided by the present application first controls the lower feeding mechanism to move the sewing material to the starting position indicated by the sewing information so that the sewing machine needle is aligned with the starting position, then determines the center position of the pattern, and moves the upper feeding mechanism so that the center of the upper feeding mechanism is aligned with the center of the pattern, so that the width utilization rate of the upper feeding mechanism is maximized. After the center of the upper feeding mechanism is aligned with the center of the pattern, the lifting cylinder is controlled to push the upper feeding mechanism down and press the upper feeding mechanism so that the upper feeding mechanism presses the sewing material. During the sewing process, the upper feeding mechanism moves synchronously with the lower feeding mechanism, which solves the technical problem of poor sewing effect caused by the stratification of the top surface and the ground of the sewing material when sewing thick sewing materials.

[0102] In a possible implementation, determining the center position of the pattern included in the sewing information includes:

[0103] S401, obtaining needle position coordinate information corresponding to the pattern indicated by sewing information.

[0104] According to the pattern, stitch type, stitch density, start and end positions in the sewing information, an XY coordinate system is established on the surface of the lower feeding mechanism to obtain the needle position coordinate information corresponding to the pattern.

[0105] S402: Obtain the maximum and minimum values ​​of the needle position coordinate information in the X direction.

[0106] The needle position coordinate information is in the form of (X, Y), where X is the coordinate value of the needle position in the X direction, and Y is the coordinate value of the needle position in the Y direction. Figure 4 As shown, obtaining the maximum and minimum values ​​of the needle positions corresponding to the pattern in the X and Y directions is equivalent to determining the range of the pattern circumscribed rectangle. When the center of the pattern circumscribed rectangle, i.e., the center of the pattern, is aligned with the center of the upper feeding width, the utilization rate of the upper feeding width is the highest.

[0107] S403, obtaining the maximum and minimum values ​​of the needle position coordinate information in the Y direction.

[0108] S404 , determining the coordinate value of the center position of the pattern in the X direction according to the average value of the maximum value and the minimum value of the needle position coordinate information in the X direction.

[0109] S405 . Determine the coordinate value of the center position of the pattern in the Y direction according to the average value of the maximum value and the minimum value of the needle position coordinate information in the Y direction.

[0110] The automatic sewing control method provided in the embodiment of the present application determines the center coordinates of the pattern according to preset sewing information, aligns the center of the pattern with the center of the upper feeding width, and maximizes the utilization rate of the upper feeding width.

[0111] In order to avoid inconsistent moving distances of the top layer and the bottom layer when feeding thick materials, the upper feeding mechanism and the lower feeding mechanism must move synchronously. The upper feeding mechanism and the lower feeding mechanism are driven and controlled by the upper feeding motor and the lower feeding motor respectively, so the synchronization of the upper feeding motor and the lower feeding motor is very important. Next, the synchronization control algorithm of the upper feeding motor and the lower feeding motor included in the automatic sewing control method of the present application will be given.

[0112] In a possible implementation, the method further includes:

[0113] After sewing begins, the difference in moving distance between the upper feeding mechanism and the lower feeding mechanism is detected; if the difference is greater than a first threshold, the rotation speed of the upper feeding motor or the lower feeding motor is adjusted so that the phase difference between the rotation of the upper feeding motor and the lower feeding motor is not greater than a first angle threshold.

[0114] In some embodiments, a sensor for detecting the displacement of the upper feeding mechanism and the lower feeding mechanism is installed in the automatic sewing system. The displacement of the upper feeding mechanism and the lower feeding mechanism during feeding is detected by the sensor, and the difference between the displacements of the two is calculated. When the difference is greater than a first threshold, it indicates that the two do not move synchronously. The upper feeding mechanism and the lower feeding mechanism are driven and controlled by the upper feeding motor and the lower feeding motor respectively. In theory, the two should rotate synchronously. When it is detected that the upper displacement mechanism and the lower displacement mechanism do not move synchronously, it is necessary to adjust the speed of the upper feeding motor or the lower feeding motor so that the phases of their rotations are consistent. When the phase difference between the rotations of the upper feeding motor and the lower feeding motor is not greater than the first angle threshold, it can be considered that the phases of the two are consistent. Exemplarily, the first angle threshold is 3°.

[0115] The automatic sewing control method provided in the embodiment of the present application determines whether the upper feeding mechanism and the lower feeding mechanism move synchronously by detecting the difference in displacement between the two during the feeding process. If asynchronous movement occurs, the rotation speed of the upper feeding motor or the lower feeding motor is adjusted to make their rotation phases consistent, thereby making the upper displacement mechanism and the lower displacement mechanism move synchronously, avoiding poor sewing effect caused by inconsistent movement distances of the top surface and the ground when feeding thick sewing materials.

[0116] During the sewing process, while the sewing machine needle is inserting the sewing material, the shuttle will interweave the upper thread (the thread from the sewing machine needle) and the lower thread (the thread from the shuttle core) together to form a firm suture trace. It can be seen that the sewing machine needle and the shuttle need to work synchronously to realize the sewing process. In order to increase the width and thickness of the sewing material that can be sewn, the present application adopts a mode in which the sewing machine needle and the shuttle are separated. The sewing machine needle is controlled by the sewing machine needle control motor, and the shuttle is controlled by the shuttle control motor. Therefore, the synchronization of the sewing machine needle control motor and the shuttle control motor is very critical. The following is a method for synchronizing the sewing machine needle control motor and the shuttle control motor included in the sewing control method provided by the present application.

[0117] In a possible implementation, the method further includes:

[0118] Detect the phase difference between the rotation of the sewing machine needle control motor and the rotary shuttle control motor; if the phase difference between the rotation of the sewing machine needle control motor and the rotary shuttle control motor is greater than a second angle threshold, adjust the rotation speed of the sewing machine needle control motor or the rotary shuttle control motor so that the phase difference is less than the second angle threshold.

[0119] In some embodiments, a sensor for detecting the rotation phase of the sewing machine needle control motor and the rotary shuttle control motor is installed, and the phase difference between the two rotations is calculated. If the difference is greater than the second angle threshold, it means that the sewing machine needle control motor and the rotary shuttle control motor are not rotating synchronously, that is, the sewing machine needle and the rotary shuttle are not working synchronously. At this time, the speed of the sewing machine needle control motor or the rotary shuttle control motor needs to be adjusted so that the phase difference between the two rotations is within the second angle threshold, so as to ensure that the sewing machine needle and the rotary shuttle work synchronously. Exemplarily, the second angle threshold is 3°.

[0120] The automatic sewing control method provided in the embodiment of the present application determines whether the sewing machine needle and the rotary shuttle are working synchronously by detecting the phase difference between the rotation of the sewing machine needle control motor and the rotary shuttle control motor. When it is detected that the phase difference between the sewing machine needle control motor and the rotary shuttle control motor is greater than the preset second angle threshold, the rotation speeds of the two are adjusted in time to make the phase difference less than the second angle threshold, thereby ensuring that the sewing process proceeds smoothly.

[0121] Figure 5 The schematic diagram of the structure of the automatic sewing control device provided in this application is as follows: Figure 5 As shown, the automatic sewing control device 50 provided in this embodiment includes:

[0122] The first control module 501 is used to control the feeding mechanism to move the sewing material to the starting position indicated by the sewing information according to the preset sewing information;

[0123] Processing module 502, determining the center position of the pattern included in the sewing information;

[0124] The second control module 503 is used to control the movement of the upper feeding mechanism to align the center position of the format of the upper feeding mechanism with the center position of the pattern;

[0125] The third control module 504 is used to control the lifting mechanism to push the upper feeding mechanism down and press the upper feeding mechanism so that the upper feeding mechanism presses the sewing material;

[0126] The fourth control module 505 is used to control the sewing mechanism to sew according to the sewing information, and control the upper feeding mechanism and the lower feeding mechanism to move synchronously during the sewing process;

[0127] The fifth control module 506 is used to control the lifting mechanism to drive the upper feeding mechanism to lift up and the lower feeding mechanism to move to a preset starting position if it is detected that the sewing content indicated by the sewing information has been completed.

[0128] In a possible implementation, the processing module 502 is specifically configured to:

[0129] Obtaining needle position coordinate information corresponding to the pattern indicated by the sewing information;

[0130] Get the maximum and minimum values ​​of the needle position coordinate information in the X direction;

[0131] Get the maximum and minimum values ​​of the needle position coordinate information in the Y direction;

[0132] Determine the coordinate value of the center position of the pattern in the X direction according to the average value of the maximum value and the minimum value of the needle position coordinate information in the X direction;

[0133] The coordinate value of the center position of the pattern in the Y direction is determined according to the average value of the maximum value and the minimum value of the needle position coordinate information in the Y direction.

[0134] In a possible implementation, the processing module 502 is further used to detect the difference between the moving distances of the upper feeding mechanism and the lower feeding mechanism after sewing starts;

[0135] The sixth control module 507 is used to adjust the rotation speed of the upper feeding motor or the lower feeding motor if the difference is greater than the first threshold, so that the phase difference between the rotation of the upper feeding motor and the lower feeding motor is not greater than the first angle threshold.

[0136] In a possible implementation, the processing module 502 is further used to detect the phase difference between the rotation of the sewing machine needle control motor and the rotary hook control motor;

[0137] The seventh control module 508 is used to adjust the rotation speed of the sewing machine needle control motor or the rotary shuttle control motor to make the phase difference smaller than the second angle threshold if the phase difference between the sewing machine needle control motor and the rotary shuttle control motor is greater than the second angle threshold.

[0138] The automatic sewing control device provided in this embodiment can execute the method provided in the above method embodiment, and its implementation principle and technical effect are similar, so this embodiment will not be described in detail here.

[0139] Figure 6 This is a schematic diagram of the structure of the automatic sewing control device provided in this application. Figure 6 As shown, the electronic device 60 provided in this embodiment includes: at least one processor 601 and a memory 602. Optionally, the device 60 also includes a communication component 603. The processor 601, the memory 602 and the communication component 603 are connected via a bus 604.

[0140] In a specific implementation process, at least one processor 601 executes the computer execution instructions stored in the memory 602, so that at least one processor 601 executes the above method.

[0141] The specific implementation process of the processor 601 can be found in the above method embodiment, and its implementation principle and technical effect are similar, so this embodiment will not be repeated here.

[0142] In the above embodiments, it should be understood that the processor may be a central processing unit (CPU), or other general-purpose processors, digital signal processors (DSP), application-specific integrated circuits (ASIC), etc. A general-purpose processor may be a microprocessor or the processor may be any conventional processor, etc. The steps of the method disclosed in the invention may be directly embodied as being executed by a hardware processor, or may be executed by a combination of hardware and software modules in the processor.

[0143] The memory may include a high-speed memory (Random Access Memory, RAM), and may also include a non-volatile memory (NVM), such as at least one disk storage.

[0144] The bus can be an Industry Standard Architecture (ISA) bus, a Peripheral Component Interconnect (PCI) bus, or an Extended Industry Standard Architecture (EISA) bus, etc. The bus can be divided into an address bus, a data bus, a control bus, etc. For ease of representation, the bus in the drawings of this application is not limited to only one bus or one type of bus.

[0145] The present application also provides a computer program product, including a computer program, which implements the above method when executed by a processor.

[0146] The present application also provides a computer-readable storage medium, in which computer-executable instructions are stored. When a processor executes the computer-executable instructions, the above method is implemented.

[0147] The above-mentioned readable storage medium can be implemented by any type of volatile or non-volatile storage device or a combination thereof, such as static random access memory (SRAM), electrically erasable programmable read-only memory (EEPROM), erasable programmable read-only memory (EPROM), programmable read-only memory (PROM), read-only memory (ROM), magnetic memory, flash memory, magnetic disk or optical disk. The readable storage medium can be any available medium that can be accessed by a general or special-purpose computer.

[0148] An exemplary readable storage medium is coupled to a processor so that the processor can read information from the readable storage medium and write information to the readable storage medium. Of course, the readable storage medium can also be a component of the processor. The processor and the readable storage medium can be located in an application specific integrated circuit (Application Specific Integrated Circuits, referred to as: ASIC). Of course, the processor and the readable storage medium can also exist in the device as discrete components.

[0149] The division of units is only a logical function division, and there may be other divisions in actual implementation, such as multiple units or components can be combined or integrated into another system, or some features can be ignored or not executed. Another point is that the mutual coupling or direct coupling or communication connection shown or discussed can be an indirect coupling or communication connection through some interface, device or unit, which can be electrical, mechanical or other forms.

[0150] The units described as separate components may or may not be physically separated, and the components shown as units may or may not be physical units, that is, they may be located in one place or distributed on multiple network units. Some or all of the units may be selected according to actual needs to achieve the purpose of the solution of this embodiment.

[0151] In addition, each functional unit in each embodiment of the present invention may be integrated into one processing unit, or each unit may exist physically separately, or two or more units may be integrated into one unit.

[0152] If the function is implemented in the form of a software functional unit and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the present invention, or the part that contributes to the prior art, or the part of the technical solution, can be embodied in the form of a software product. The computer software product is stored in a storage medium, including several instructions for a computer device (which can be a personal computer, server, or network device, etc.) to perform all or part of the steps of the methods of each embodiment of the present invention. The aforementioned storage medium includes: U disk, mobile hard disk, read-only memory (ROM), random access memory (RAM), disk or optical disk, etc., various media that can store program codes.

[0153] Those skilled in the art can understand that all or part of the steps of implementing the above-mentioned method embodiments can be completed by hardware related to program instructions. The aforementioned program can be stored in a computer-readable storage medium. When the program is executed, the steps of the above-mentioned method embodiments are executed; and the aforementioned storage medium includes: ROM, RAM, disk or optical disk and other media that can store program codes.

[0154] Finally, it should be noted that those skilled in the art will readily conceive of other embodiments of the present invention after considering the specification and practicing the invention disclosed herein. The present invention is intended to cover any variations, uses or adaptations of the present invention, which follow the general principles of the present invention and include common knowledge or customary technical means in the art not disclosed by the present invention, are not limited to the precise structure described above and shown in the drawings, and may be modified and changed in various ways without departing from the scope thereof. The scope of the present invention is limited only by the appended claims.

Claims

1. An automatic sewing system, characterized in that: include: Sewing mechanism; An upper feeding mechanism arranged on the side of the sewing machine needle of the sewing mechanism facing the sewing platform; A lifting mechanism, under the action of which the height between the upper feeding mechanism and the sewing platform is controlled as a whole; Bottom feeding mechanism; An upper feeding motor for controlling the feeding direction of the upper feeding mechanism; A lower feeding motor for controlling the feeding direction of the lower feeding mechanism; The upper feeding mechanism is controlled by the upper feeding motor and the lower feeding mechanism is controlled by the lower feeding motor to feed synchronously.

2. The automatic sewing system according to claim 1, characterized in that: The lifting mechanism includes a lifting cylinder and a cylinder control motor. The lifting cylinder adjusts the air pressure under the control of the cylinder control motor to control the lifting and lowering of the upper feeding mechanism and the force of pressing the sewing material when the upper feeding mechanism is pressed down.

3. The automatic sewing system according to claim 1 or 2, characterized in that: The automatic sewing system further comprises a sewing machine needle control motor and a rotary shuttle control motor, wherein the sewing machine needle control motor and the rotary shuttle control motor respectively correspond to and synchronously control the sewing machine needle and the rotary shuttle.

4. The automatic sewing system according to claim 1 or 2, characterized in that: The upper feeding mechanism moves within a set range along the X and Y directions under the control of the upper feeding motor.

5. The automatic sewing system according to claim 4, characterized in that: The upper feeding motor comprises an X-direction feeding motor and a Y-direction feeding motor. The X-direction feeding motor controls the upper feeding mechanism to move along the X direction within the set range. The Y-direction feeding motor controls the upper feeding mechanism to move along the Y direction within the set range.

6. An automatic sewing control method, characterized in that: The automatic sewing system according to any one of claims 1 to 5, wherein the automatic sewing control method comprises: According to the preset sewing information, the lower feeding mechanism is controlled to move the sewing material to the starting position indicated by the sewing information; determining a center position of a pattern included in the sewing information; Controlling the upper feeding mechanism to move, and aligning the center position of the format of the upper feeding mechanism with the center position of the pattern; Controlling the lifting mechanism to push the upper feeding mechanism down and press the upper feeding mechanism tightly, so that the upper feeding mechanism presses the sewing material tightly; Control the sewing mechanism to sew according to the sewing information, and control the upper feeding mechanism and the lower feeding mechanism to move synchronously during the sewing process; If it is detected that the sewing content indicated by the sewing information has been completed, the lifting mechanism is controlled to drive the upper feeding mechanism to lift up, and the lower feeding mechanism moves to a preset starting position.

7. The automatic sewing control method according to claim 6, characterized in that: The determining the center position of the pattern contained in the sewing information comprises: Acquiring needle position coordinate information corresponding to the pattern indicated by the sewing information; Obtain the maximum and minimum values ​​of the needle position coordinate information in the X direction; Obtain the maximum and minimum values ​​of the needle position coordinate information in the Y direction; Determine the coordinate value of the center position of the pattern in the X direction according to the average value of the maximum value and the minimum value of the needle position coordinate information in the X direction; The coordinate value of the center position of the pattern in the Y direction is determined according to the average value of the maximum value and the minimum value of the needle position coordinate information in the Y direction.

8. The automatic sewing control method according to claim 6 or 7, characterized in that: The method also includes: After sewing begins, detecting the difference between the moving distances of the upper feeding mechanism and the lower feeding mechanism; If the difference is greater than the first threshold, the rotation speed of the upper feeding motor or the lower feeding motor is adjusted so that the phase difference between the rotation of the upper feeding motor and the rotation of the lower feeding motor is not greater than the first angle threshold.

9. The automatic sewing control method according to claim 6 or 7, characterized in that: The method also includes: Detect the phase difference between the sewing machine needle control motor and the rotary hook control motor; If the phase difference between the rotation of the sewing machine needle control motor and the rotary hook control motor is greater than the second angle threshold, the rotation speed of the sewing machine needle control motor or the rotary hook control motor is adjusted to make the phase difference smaller than the second angle threshold.

10. An automatic sewing control device, characterized in that: The automatic sewing system according to any one of claims 1 to 5, wherein the automatic sewing control device comprises: A first control module, used for controlling the lower feeding mechanism to move the sewing material to a starting position indicated by the sewing information according to preset sewing information; A processing module, determining a center position of a pattern included in the sewing information; A second control module is used to control the movement of the upper feeding mechanism to align the center position of the format of the upper feeding mechanism with the center position of the pattern; A third control module is used to control the lifting mechanism to push the upper feeding mechanism down and press the upper feeding mechanism so that the upper feeding mechanism presses the sewing material; A fourth control module, used for controlling the sewing mechanism to sew according to the sewing information, and controlling the upper feeding mechanism and the lower feeding mechanism to move synchronously during the sewing process; The fifth control module is used to control the lifting mechanism to lift the upper feeding mechanism and move the lower feeding mechanism to a preset starting position if it is detected that the sewing content indicated by the sewing information has been completed.

11. An automatic sewing control device, characterized in that: include: Memory, processor; The memory stores computer-executable instructions; The processor executes the computer-executable instructions stored in the memory, so that the processor performs the method according to any one of claims 6 to 9.

12. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores computer-executable instructions, which are used to implement the method according to any one of claims 6 to 9 when executed by a processor.

13. A computer program product, characterized in that The invention comprises a computer program, which implements the method according to any one of claims 6 to 9 when executed by a processor.

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